EP0393807B1 - Détecteur vidéo de mouvement immunisé contre les fausses alarmes - Google Patents

Détecteur vidéo de mouvement immunisé contre les fausses alarmes Download PDF

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Publication number
EP0393807B1
EP0393807B1 EP90300116A EP90300116A EP0393807B1 EP 0393807 B1 EP0393807 B1 EP 0393807B1 EP 90300116 A EP90300116 A EP 90300116A EP 90300116 A EP90300116 A EP 90300116A EP 0393807 B1 EP0393807 B1 EP 0393807B1
Authority
EP
European Patent Office
Prior art keywords
motion
signals
output
detector
signal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP90300116A
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German (de)
English (en)
Other versions
EP0393807A2 (fr
EP0393807A3 (fr
Inventor
Felix Aschwanden
Theodor E. Bart
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Burle Technologies Inc
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Burle Technologies Inc
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Filing date
Publication date
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Publication of EP0393807A2 publication Critical patent/EP0393807A2/fr
Publication of EP0393807A3 publication Critical patent/EP0393807A3/fr
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Publication of EP0393807B1 publication Critical patent/EP0393807B1/fr
Anticipated expiration legal-status Critical
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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • G08B13/19602—Image analysis to detect motion of the intruder, e.g. by frame subtraction
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • G08B13/19602—Image analysis to detect motion of the intruder, e.g. by frame subtraction
    • G08B13/19606—Discriminating between target movement or movement in an area of interest and other non-signicative movements, e.g. target movements induced by camera shake or movements of pets, falling leaves, rotating fan
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • G08B13/19634—Electrical details of the system, e.g. component blocks for carrying out specific functions
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
    • H04N19/50—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using predictive coding
    • H04N19/503—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using predictive coding involving temporal prediction
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/14—Picture signal circuitry for video frequency region
    • H04N5/144—Movement detection

Definitions

  • This invention deals generally with pictorial transmission by television and more specifically with detection of motion between successive scenes.
  • a second, more sophisticated, type of motion detector digitizes the video signal and processes it through a computer for picture recognition.
  • One difficulty with this system is the cost and complexity of handling the tremendous data volume generated by a TV camera.
  • the very quantity of data generated and compared means that noise signals are more likely to affect the comparison and generate false indications of motion. If all that is required to indicate motion is a difference in one picture element, it is almost certain that such a difference will occur in successive scenes merely because of the generation of electronic noise.
  • the present invention provides a motion detector for a television viewing field comprising, in series, a low pass filter for receiving a television camera's output signal, a differentiator, a zero crossing detector and a digital pulse generator for furnishing to a following storage memory digital signals related to edges visible in the viewing field, a memory control for the storage memory and a comparison circuit arranged to receive real-time signals from the digital pulse generator and also stored signals of a previous field from the storage memory and compare them and produce an alarm output signal if a difference between them indicates edge movement, the comparison circuit comprising a phase detector circuit comprising an XOR gate for receiving the real-time and stored signals, with the XOR gate output connected to a minimum pulse width detector, the output of which produces a motion indicating signal only when the difference in real-time and stored signals surpasses a predetermined pulse length, characterised in that the minimum pulse width detector comprises a first monostable multivibrator whose input is connected to the XOR gate and whose output is connected to the input of a second monos
  • the electronic signal processing of the invention also is designed to anticipate those signals which are considered inconsequential. For instance, a vertical coincidence circuit is used to require the edge with movement to exist in several adjacent horizontal lines, in order to prevent small items such as raindrops from indicating motion. Also, another circuit requires a specific minimum motion in the horizontal direction, so that an oscillating motion such as that of a tree branch does not trigger an alarm.
  • the present invention therefore furnishes a reliable motion detector which uses only a very practical size memory and anticipates and eliminates the most common sources of false alarms.
  • FIG. 1 is a simplified block diagram of the preferred embodiment of the invention.
  • FIG. 2 shows representative signal waveforms within the preferred embodiment.
  • FIG. 3 is a simplified block diagram of the phase detector of the preferred embodiment.
  • FIG. 1 is a simplified block diagram of the preferred embodiment of the invention in which motion detector 10 analyzes the field of view of camera 12 to determine whether any significant motion has taken place between successive camera scanning fields.
  • Motion detector 10 has several features which are described below which make it particularly immune to false motion signals, but it is also designed to minimize the size of the memory required for the comparison of two viewing fields.
  • the basic function of motion detector 10 is to determine whether an edge of an object within the TV field has moved. This is accomplished by storing only the edges of items within the field rather than storing information on the entire object, and thereby reducing the required memory. A single bit of information is therefore sufficient to indicate the presence or absence of an edge.
  • a 64 kbit memory is used for memory 14 to provide for 256 vertical lines of the TV field and for 256 samples per line. Each memory address then represents the potential location of an edge.
  • These memory addresses for memory 14 are generated directly from the signal from camera 12 by sync separator 16 which extracts the horizontal and vertical signals and generates a clock locked to the horizontal line frequency of approximately 5 MHZ and feeds them to address generator 18 which then supplies the addresses to memory 14.
  • the video signal from camera 12 is also fed to low pass filter 20 which fulfills the Nyquist criterion and also suppresses very fine detail in the video signal such as would result from raindrops or flies.
  • a band width of .5 MHZ or less for filter 20 has been found to be satisfactory for operation of the following circuit stages.
  • FIG. 2 depicts several representative signal waveforms within the preferred embodiment of the invention which would occur for a single horizontal scan line of camera 12 if it were viewing a field with a white background on both sides of a centered gray band.
  • FIG. 2A is a simplified drawing of the signal waveform passed from camera 12 to low pass filter 20, and
  • FIG. 2B is the resulting waveform on the output of low pass filter 20.
  • the signal from low pass filter 20 is then fed to first differentiator 22 which produces a waveform represented by FIG. 2C indicating only the edges of the gray band in the center of the camera field.
  • This signal has a zero crossing point related in time to each positive edge in the camera field (FIG. 2D), and zero crossing detector 28 then converts the analog signal which exists on its input to a digital output signal by sensing the exact time of the zero crossing and producing a signal related to that time.
  • the output of zero crossing detector 28 (FIG. 2E) is fed to and triggers one-shot multivibrator 30 which then produces digital pulses (FIG. 2F) of standard width exactly corresponding to the edges. These are fed to memory 14 and the following digital processing circuitry.
  • Memory 14 can be controlled by memory control 15 as to when it will produce an output for comparison to the real-time digital signal being fed to the comparison circuit and when the real time digital signal will be stored in memory 14.
  • the comparison function of motion detector 10 is performed by the circuitry following memory 14.
  • the real-time pulses from one shot multivibrator 30 and the pulses from the previously selected TV field in memory 14 are both fed to phase detector 34, which is the first of several signal verification circuits.
  • Phase detector 34 is a circuit which essentially detects the difference in the timing of the same edge pulse in the real-time field and the stored field. Any difference is an indication that the edge has moved. Phase detector 34 also includes a minimum level circuit which requires a certain preset minimum time difference before it produces an output signal. This circuit is the essential protection against signal noise. Since signal noise is likely to cause jitter of the order of one clock pulse, no output signal is generated by phase detector 34 unless the time difference between edge pulses is greater than one clock pulse.
  • phase detector 34 within phase detector 34 the real-time pulses from one shot multivibrator 30 and the pulses from memory 14 are fed to XOR gate 50.
  • XOR gate 50 The output of XOR gate 50 is fed to monostable multivibrator 52, typically referred to as a "one-shot".
  • One shot 52 produces a rectangular pulse of a fixed pulse length each time XOR gate 50 shuts off. Therefore, one shot 52 will produce an output only when there have been edge differences from real-time one shot 30 and from memory 14, which turned on XOR gate 50, and then one or both of the pulses ends.
  • XOR gate 50 will initiate the second one shot 56 if it is giving an output when one shot 52 is not putting a signal on the input of one shot 56.
  • the length of the output pulse from one shot 52 determines the maximum time difference permitted between the real-time and stored edges before a movement is indicated by one shot 56. It is this feature which prevents mere jitter from initiating a movement signal.
  • the output pulse fed from phase detector 34 to vertical coincidence filter 38 is actually an alarm signal which could be used to initiate some warning action, because it is a true indication that an edge in the TV field has in fact moved, but there are certain movements that clearly should be ignored. For instance, any edge movement which exists in only one horizontal scan line is clearly insignificant. It is either a small harmless object such as a fly or raindrop, or it may be a result of electrical signal noise.
  • Vertical coincidence filter 38 therefore uses an additional memory to store an output alarm pulse from phase detector 34 for a specified additional number of horizontal scan lines. In the preferred embodiment, the number of horizontal scan lines has been selected to be four.
  • a first output signal from phase detector 34 begins a count within vertical coincidence filter 38 but no output is generated by vertical coincidence filter 38 unless three more motion indicating pulses occur in the next horizontal scan lines in approximately the same location as the first pulse.
  • vertical coincidence filter 38 adds a minimum height requirement to any moving object before an output signal is fed to motion analyzer 40.
  • Motion analyzer 40 then adds a requirement of a minimum horizontal movement.
  • this minimum may be selected by the user to be 5, 10 or 15 percent of the horizontal scan line. Such a requirement can easily be set for each application by motion analyzer 40.
  • Motion analyzer 40 by holding off an alarm signal output unless an object moves a minimum distance, prevents alarms from oscillating objects such as tree branches or waving flags. Motion analyzer 40 uses an additional memory to accumulate the indicators of movement in the TV field and the memory is continuously read out so that an alarm output signal is generated by motion analyzer 40 only if the required minimum motion exists.
  • the output alarm signal from motion analyzer 40 is the actual output of motion detector 10 and can be used to alert guards or cause other actions.
  • the alarm signal from motion detector 10 is not only extremely sensitive but is also particularly immune from false alarms, because of the protection against false alarms furnished by vertical coincidence filter 38 which requires a moving object to have a minimum height and motion analyzer 40 which requires the motion to have a minimum horizontal movement. Together these features furnish a very reliable, but quite economical motion detector for television viewed fields.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Signal Processing (AREA)
  • Theoretical Computer Science (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Burglar Alarm Systems (AREA)
  • Processing Of Color Television Signals (AREA)
  • Compression Or Coding Systems Of Tv Signals (AREA)
  • Image Analysis (AREA)
  • Studio Circuits (AREA)
  • Color Television Systems (AREA)

Claims (3)

  1. Détecteur de mouvement pour un champ de vision de télévision comprenant, en série, un filtre passe-bas (20) destiné à recevoir un signal de sortie d'une caméra de télévision, un différentiateur (22), un détecteur de passage par zéro (28) et un générateur d'impulsions numériques (30) destiné à fournir à une mémoire d'enregistrement suivante (14) des signaux numériques qui se rapportent à des bords visibles dans le champ de vision, une commande de mémoire (15) pour la mémoire d'enregistrement, et un circuit de comparaison agencé pour recevoir des signaux en temps réel du générateur d'impulsions numériques et également des signaux enregistrés d'un champ précédent, fournis par la mémoire d'enregistrement (14), et pour les comparer et produire un signal de sortie d'alarme si une différence entre ces signaux indique un mouvement d'un bord, le circuit de comparaison (34) comprenant un circuit détecteur de phase qui comprend lui-même une porte XOU (50) destiné à recevoir les signaux en temps réel et les signaux enregistrés, la sortie de la porte XOU (50) étant connectée à un détecteur de largeur minimum d'impulsions, dont la sortie produit un signal indicatif de mouvement uniquement lorsque la différence entre les signaux en temps réel et les signaux enregistrés est supérieure à une longueur d'impulsion prédéterminée, caractérisé en ce que le détecteur de largeur minimum d'impulsion comprend un premier multivibrateur monostable (52) dont l'entrée est connectée à la porte XOU et dont la sortie est connectée à une première entrée d'un deuxième multivibrateur monostable (56), la sortie de la porte XOU (50) étant aussi connectée à une deuxième entrée du deuxième multivibrateur monostable (56), la longueur d'impulsion prédéterminée étant la longueur d'impulsion du premier multivibrateur monostable et la commande de mémoire (15) étant interconnectée avec une source de signaux (38) qui suit le circuit de comparaison (34), la source de signaux dépendant de la détermination d'un mouvement de bord exécutée par le circuit de comparaison (34), de telle manière qu'un champ enregistré soit maintenu dans la mémoire d'enregistrement (14) jusqu'à ce qu'un mouvement de bord soit déterminé.
  2. Détecteur de mouvement selon la revendication 1, comprenant un filtre (38) de coïncidence verticale qui reçoit comme signaux d'entrée les signaux de sortie du circuit détecteur de phase (34) lorsque le circuit détecteur de phase détermine qu'il s'est produit un mouvement d'un bord dans une ligne de balayage horizontal, et dans lequel le filtre de coïncidence verticale enregistre les signaux d'entrée et ne produit son propre signal de sortie que lorsqu'il s'accumule des signaux d'entrée qui indiquent qu'un mouvement de bord s'est produit dans un nombre prédéterminé de lignes de balayage horizontal adjacentes dans la direction verticale.
  3. Détecteur de mouvement selon la revendication 1 ou 2, comprenant en outre un analyseur de mouvement (40) qui reçoit, comme signaux d'entrée, les signaux de sortie provenant du filtre de coïncidence verticale (38), et dans lequel l'analyseur de mouvement enregistre les signaux d'entrée et ne produit son propre signal de sortie que lorsqu'il s'acummule des signaux d'entrée, ce qui indique qu'un mouvement de bord s'est produit sur toute la longueur d'un segment prédéterminé de la dimension de balayage horizontal du champ de vision de la caméra.
EP90300116A 1989-04-20 1990-01-05 Détecteur vidéo de mouvement immunisé contre les fausses alarmes Expired - Lifetime EP0393807B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US07/341,076 US4894716A (en) 1989-04-20 1989-04-20 T.V. motion detector with false alarm immunity
US341076 1989-04-20

Publications (3)

Publication Number Publication Date
EP0393807A2 EP0393807A2 (fr) 1990-10-24
EP0393807A3 EP0393807A3 (fr) 1991-04-03
EP0393807B1 true EP0393807B1 (fr) 1994-06-22

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EP90300116A Expired - Lifetime EP0393807B1 (fr) 1989-04-20 1990-01-05 Détecteur vidéo de mouvement immunisé contre les fausses alarmes

Country Status (4)

Country Link
US (1) US4894716A (fr)
EP (1) EP0393807B1 (fr)
JP (1) JPH0771287B2 (fr)
DE (1) DE69010062T2 (fr)

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JP2995745B2 (ja) * 1989-03-31 1999-12-27 ソニー株式会社 動き情報抽出装置
US5008745A (en) * 1989-12-21 1991-04-16 Burle Technologies, Inc. Clock synchronized digital TV motion detector
US5253070A (en) * 1990-12-31 1993-10-12 Goldstar Co., Ltd. System and method for automatically detecting a variation of video information
JP2600504B2 (ja) * 1991-01-25 1997-04-16 日本ビクター株式会社 動きベクトル検出回路
KR950009344B1 (ko) * 1992-09-15 1995-08-21 주식회사삼성중공업 무궤도식 크레인 자동주향방법 및 그 장치
US5396284A (en) * 1993-08-20 1995-03-07 Burle Technologies, Inc. Motion detection system
KR100211916B1 (ko) * 1995-10-26 1999-08-02 김영환 물체 모양정보 부호화에서의 부호화타입과 모드의 결정방법
US6130707A (en) * 1997-04-14 2000-10-10 Philips Electronics N.A. Corp. Video motion detector with global insensitivity
US6298144B1 (en) 1998-05-20 2001-10-02 The United States Of America As Represented By The National Security Agency Device for and method of detecting motion in an image
EP1287509B1 (fr) * 2000-03-20 2004-10-13 Sequr S.A. Systeme de surveillance
US6786730B2 (en) 2002-03-01 2004-09-07 Accelerized Golf Llc Ergonomic motion and athletic activity monitoring and training system and method
US7860222B1 (en) 2003-11-24 2010-12-28 Securus Technologies, Inc. Systems and methods for acquiring, accessing, and analyzing investigative information
FR2861245B1 (fr) * 2003-10-16 2006-05-05 Canon Europa Nv Procede de video surveillance, dispositif, systeme et programme d'ordinateur correspondant

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Also Published As

Publication number Publication date
DE69010062T2 (de) 1994-10-06
EP0393807A2 (fr) 1990-10-24
JPH0771287B2 (ja) 1995-07-31
US4894716A (en) 1990-01-16
EP0393807A3 (fr) 1991-04-03
DE69010062D1 (de) 1994-07-28
JPH02297293A (ja) 1990-12-07

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